CN204150635U - A kind of carrying of the crops based on Arduino micro controller system Intelligent control electric line structure - Google Patents

Abstract

The utility model relates to a kind of crops based on Arduino micro controller system carrying Intelligent control electric line structure, comprise Arduino controller module, three driving stepper motor modules, three stepping motors, rotating lifting arm, telescopic machine mechanical arm, it is characterized in that: described Arduino controller module is connected with three stepping motor circuit through three driving stepper motor modules respectively, described three stepping motors are through the turning unit of respective actuating unit and rotating lifting arm, the Lift Part of rotating lifting arm, telescopic machine mechanical arm is mechanically connected, be positioned at the turning unit of rotating lifting arm, the Lift Part of rotating lifting arm, the execution route of telescopic machine mechanical arm is provided with three limit switches, three described limit switches are connected with Arduino controller module circuit through initial reset unit respectively.The utility model circuit connecting relation is clear and definite, simple, effective, thus can meet the subsequent control demand of equipment, ensures to produce to carry out smoothly.

Description

A kind of carrying of the crops based on Arduino micro controller system Intelligent control electric line structure

Technical field

The utility model relates to a kind of crops based on Arduino micro controller system carrying Intelligent control electric line structure, is applicable to farmland transfer robot.

Background technology

In farmland operation process, a lot of operation all relates to carrying, but in traditional farmland operation, major part is all based on manual operation, the whole-course automation of crops or fertilizer transport operation process is not well realized, comparatively large to labour demand, and these operation process are that to belong to working environment poor and labour-intensive mostly, are not suitable for peasant and carry out long period of operation.

Although there is the agricultural robot of many multi-functional, diversification on the market, but the price of its great number, with high maintenance expense, all that general peasant is burdensome, so all the time China to realize entire mechanization agriculturally the short time and automation also quite very long, so in farmland operation process, introduce the small-sized, cheap of novel suitable farmland production and the professional farmland transfer robot that can satisfy the demands again is inexorable trend.

At present, great majority apply to transfer robot controller in farmland operation process and mainly contain following a few class: be first take PLC as a class transfer robot of control core, such robot work is more stable, harsh environments can be adapted to, but to build with PLC be the control system of controller, need to connect the peripheral operational module of polytype, and need many PLC Collaborative Control, thus increase cost and the complexity of control system; Next take motion control card as the control system of core, and the control system integration degree of such transfer robot is high, multiple functional, but domestic motion control card unstable properties, quality is uneven, is difficult to meet Transport Robot Control System for Punch requirement, then the external motion control card produced, programming is started with comparatively complicated, cost is high, brings certain difficulty to robot control system designer, and once after damaging, be difficult to maintenance, can only integral replacing; Last class is independent research transfer robot controller, and such control system is more loaded down with trivial details for user's maintenance, and be difficult to carry out secondary development, commonality is poor.

Utility model content

In view of the deficiencies in the prior art, the purpose of this utility model is to provide a kind of crops based on Arduino micro controller system to carry Intelligent control electric line structure.

The technical solution of the utility model is:

A kind of carrying of the crops based on Arduino micro controller system Intelligent control electric line structure, comprise Arduino controller module, three driving stepper motor modules, three stepping motors, rotating lifting arm, telescopic machine mechanical arm, it is characterized in that: described Arduino controller module is connected with three stepping motor circuit through three driving stepper motor modules respectively, described three stepping motors are through the turning unit of respective actuating unit and rotating lifting arm, the Lift Part of rotating lifting arm, telescopic machine mechanical arm is mechanically connected, be positioned at the turning unit of rotating lifting arm, the Lift Part of rotating lifting arm, the execution route of telescopic machine mechanical arm is provided with three limit switches, three described limit switches are connected with Arduino controller module circuit through initial reset unit respectively.

Wherein, three described stepping motors are also respectively arranged with a rotary encoder, described rotary encoder through position, speed detection unit is connected with Arduino controller module circuit.

Also comprise a supply module in order to power to Arduino controller module, three driving stepper motor modules and radiating module.

Also comprise one and show the infrared remote control module of 12864 liquid crystal displays and the infrared connection be connected with Arduino controller module.

The utility model has the advantage of: the utility model circuit connecting relation is clear and definite, simple, effective, thus can meet the subsequent control demand of equipment, ensure to produce and carry out smoothly.

Accompanying drawing explanation

The schematic block circuit diagram of Fig. 1 the utility model embodiment.

Fig. 2 is that the I/O interface of Arduino controller takies situation schematic diagram.

Detailed description of the invention

For above-mentioned feature and advantage of the present utility model can be become apparent, special embodiment below, and coordinate accompanying drawing, be described in detail below.

With reference to figure 1, the utility model relates to a kind of crops based on Arduino micro controller system carrying Intelligent control electric line structure, comprise Arduino controller module, three driving stepper motor modules, three stepping motors, rotating lifting arm, telescopic machine mechanical arm, described Arduino controller module is connected with three stepping motor circuit through three driving stepper motor modules respectively, described three stepping motors are through the turning unit of respective actuating unit and rotating lifting arm, the Lift Part of rotating lifting arm, telescopic machine mechanical arm is mechanically connected, be positioned at the turning unit of rotating lifting arm, the Lift Part of rotating lifting arm, the execution route of telescopic machine mechanical arm is provided with three limit switches, three described limit switches are connected with Arduino controller module circuit through initial reset unit respectively.

Three above-mentioned stepping motors are also respectively arranged with a rotary encoder, described rotary encoder through position, speed detection unit is connected with Arduino controller module circuit.

Also comprise a supply module in order to power to Arduino controller module, three driving stepper motor modules and radiating module.

Also comprise one and show the infrared remote control module of 12864 liquid crystal displays and the infrared connection be connected with Arduino controller module.

In implementation process, this circuit comprises Arduino micro controller system main control unit, driving stepper motor unit, performance element, infrared remote control unit, position, speed and temperature monitoring unit, initial position reset unit, power supply unit, heat-sink unit etc.Mechanical structure portion mainly comprises organizes synchronous belt drive mechanism, speed reduction gearing, three groups of five phase step motors, cooling mechanism, lead screw guide rails mechanism, rotating lifting arm, end mechanical arm, telescopic machine mechanical arm, gear mechanism, end-effector and cardan wheels etc. more.

Arduino micro controller system main control unit, comprise Arduino control chip, multi-path digital IO interface, analog input interface, UART interface, crystal oscillator, USB interface and power interface etc., control three five phase step motors rotations respectively by Arduino, read position, speed and the temperature information of each mechanical arm of farmland transfer robot, realize machine robot short range infrared remote control, robot initial position resets and intelligent heat dissipation.Each digital IO mouth, simulation mouth, USB interface and other peripheral circuits and components and parts provide condition for the access of each peripheral module, form farmland transfer robot single-chip computer control system.

Driving stepper motor unit, comprise five phase composite stepper motors and corresponding stepper motor driver thereof, this 5 phase composite stepper motor step angle is little, Acceleration and deceleration time is short, Dynamic Inertia is low, there is higher precision and torque, the switching of single impulse+direction or two pulse master mode can be realized, when selecting single impulse+direction controlling mode, by the relevant I/O mouth of micro controller system main control unit and the impulse singla mouth of stepper motor driver, direction signal mouth is connected with enable signal mouth, the impulse singla of impulse singla end input controls electric machine rotation, the low and high level signal control motor of direction signal end input turns to, the free state of the low and high level signal control motor of enable signal end input.By controlling corner, the rotating speed of each stepping motor and turning to, thus realize the object of the lifting of rotation and lifting mechanical arm, rotating object and telescopic machine mechanical arm carry an object, reach farmland transfer robot puts down whole course integration and automation operation process from taking to.

Performance element, comprise synchronous belt drive mechanism, threaded screw rod mechanism, gear drive etc., be connected with the signaling interface of motor driver by the relevant I/O mouth of micro controller system main control unit, control corner, the rotating speed of motor and turn to, the rotation of these motors is through this performance element, the fore and aft motion of telescopic machine mechanical arm, the rotation of rotation and lifting mechanical arm, dipping and heaving can be converted into by actv., they cooperatively interact and make whole actuating unit flexible movements, achieve the object of these farmland transfer robot fast removal crops.

As shown in Figure 2, infrared remote control unit, be connected with the D2 I/O mouth of Arduino controller, infrared remote control is a kind of wireless and non-contact control technology, and have antijamming capability strong, information transmission is reliable, low in energy consumption, cost is low, and easily realization waits remarkable advantage, and the farmland transfer robot that operating personal realizes short range by the hand-held remote controller of operation controls.

Position, speed and temperature monitoring unit, comprise the rotary encoder of three corresponding mechanical arms, DS18B20 temperature sensor and 12864 liquid crystal etc., the D3 of coder and Arduino control unit, D4, D18, D19, D20 with D21 I/O mouth is connected, DS18B20 temperature sensor is connected with the D46 I/O mouth of Arduino control unit, the D32-D42 of 12864 liquid crystal and main Arduino control unit totally 11 I/O mouths is connected, be mainly used in monitoring the angle position residing for each mechanical arm of farmland transfer robot in real time, speed state and robot temperature etc., definite meaning achieves the real-time monitoring of this control system, reach good human computer interaction, guarantee operation process is orderly, pulsation-free carries out.

Initial position reset unit, comprise three grooved limit switches and remote controller, they are connected with D2 numeral mouth with D29, D30, D31 of Arduino controller respectively, first send reset signal by the reset key on remote controller to Arduino control unit, the each mechanical arm of controller Received signal strength rear drive runs to end position and triggers grooved limit switch, grooved limit switch will send signal to Arduino controller unit subsequently, driving stepper motor unit, by driving device performance element, makes farmland conveying robot get back to initial position.

Power supply unit, comprise Switching Power Supply, air switch and relay etc., by household electric being converted into 24V and 5V two kinds of low-voltage power supplies, give the power supplies such as Arduino control unit, driving stepper motor unit, heat-sink unit respectively, as the power supply module of whole farmland transfer robot.

Heat-sink unit, comprise radiating gill, radiator fan, DS18B20 and relay etc., relay, DS18B20 are connected with D46 I/O mouth with Arduino control unit D45 respectively, the temperature whether arriving default by measuring robots internal temperature controls startup and the closedown of radiator fan automatically, the forced convection utilizing radiator fan to bring carries out multi-layer heat dissipation to robot, motor driver also there is corresponding radiating gill, also can play the effect of heat loss.

Many groups synchronous belt drive mechanism comprises the synchronous pulley of first to the tenth.And supporting Timing Belt, first, second synchronous pulley realizes the rotation rotation of the first step motor shaft being converted to guide rail; Three, the 4th synchronous pulley realizes the rotation of guide rail to be converted to rotating mechanical arm rotation; Five, the 6th synchronous pulley realizes the rotation rotation of telescopic machine mechanical arm being converted to end mechanical arm; Seven, the 8th synchronous pulley realizes the rotation rotation of end mechanical arm being converted to end-effector; Nine, the tenth synchronous pulley realizes the rotation rotation of the 3rd stepping motor being converted to screw mandrel.

The rotary motion of end-effector is realized by the rotary course of rotation and lifting mechanical arm, the dipping and heaving of rotation and lifting mechanical arm drives end-effector to move up and down along vertical plane surface, by the transmission that two groups of synchronous pulleys and end mechanical arm move, drive end-effector is done straight-line motion by telescopic machine mechanical arm along the horizontal plane.Finally, moved by their cooperation, jointly complete farmland transfer robot transport operation.

The foregoing is only preferred embodiment of the present utility model, all equalizations done according to the utility model claim change and modify, and all should belong to covering scope of the present utility model.

Claims (4)

1. the carrying of the crops based on an Arduino micro controller system Intelligent control electric line structure, comprise Arduino controller module, three driving stepper motor modules, three stepping motors, rotating lifting arm, telescopic machine mechanical arm, it is characterized in that: described Arduino controller module is connected with three stepping motor circuit through three driving stepper motor modules respectively, described three stepping motors are through the turning unit of respective actuating unit and rotating lifting arm, the Lift Part of rotating lifting arm, telescopic machine mechanical arm is mechanically connected, be positioned at the turning unit of rotating lifting arm, the Lift Part of rotating lifting arm, the execution route of telescopic machine mechanical arm is provided with three limit switches, three described limit switches are connected with Arduino controller module circuit through initial reset unit respectively.

2. a kind of carrying of the crops based on Arduino micro controller system Intelligent control electric line structure according to claim 1, it is characterized in that: three described stepping motors are also respectively arranged with a rotary encoder, described rotary encoder through position, speed detection unit is connected with Arduino controller module circuit.

3. a kind of crops based on Arduino micro controller system carrying Intelligent control electric line structure according to claim 1, is characterized in that: also comprise a supply module in order to power to Arduino controller module, three driving stepper motor modules and radiating module.

4. a kind of crops based on Arduino micro controller system carrying Intelligent control electric line structure according to claim 1, is characterized in that: also comprise one and show the infrared remote control module of 12864 liquid crystal displays and the infrared connection be connected with Arduino controller module.